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AP_NavEKF: try running EKF on log data

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This commit is contained in:
Andrew Tridgell 2013-12-29 23:21:09 +11:00
parent ffce1f64cc
commit 776cedf368
1 changed files with 21 additions and 3 deletions
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22
libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
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@ -84,6 +84,17 @@ void setup()
compass.init();
ins.init(AP_InertialSensor::WARM_START, AP_InertialSensor::RATE_50HZ);
::printf("Waiting for 3D fix\n");
while (g_gps->status() < GPS::GPS_OK_FIX_3D) {
LogReader.wait_type(LOG_GPS_MSG);
g_gps->update();
compass.read();
barometer.read();
LogReader.wait_type(LOG_IMU_MSG);
ahrs.update();
}
NavEKF.InitialiseFilter();
}
void loop()
@ -100,8 +111,10 @@ void loop()
barometer.read();
break;
case LOG_ATTITUDE_MSG:
::printf("t=%.3f AHRS: (%.1f %.1f %.1f) ATT: (%.1f %.1f %.1f) ALT: %.1f GPS: %u %f %f\n",
case LOG_ATTITUDE_MSG: {
Vector3f ekf_euler;
NavEKF.getEulerAngles(ekf_euler);
::printf("t=%.3f AHRS: (%.1f %.1f %.1f) ATT: (%.1f %.1f %.1f) EKF: (%.1f %.1f %.1f) ALT: %.1f GPS: %u %f %f\n",
hal.scheduler->millis() * 0.001f,
ahrs.roll_sensor*0.01f,
ahrs.pitch_sensor*0.01f,
@ -109,11 +122,15 @@ void loop()
LogReader.get_attitude().x,
LogReader.get_attitude().y,
LogReader.get_attitude().z,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
degrees(ekf_euler.z),
barometer.get_altitude(),
(unsigned)g_gps->status(),
g_gps->latitude*1.0e-7f,
g_gps->longitude*1.0e-7f);
break;
}
case LOG_COMPASS_MSG:
compass.read();
@ -121,6 +138,7 @@ void loop()
case LOG_IMU_MSG:
ahrs.update();
NavEKF.UpdateFilter();
break;
}
}